Multiple-joint input arm for control of a surgical mechanical arm

Abstract

A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a plurality of sections; a plurality of joints sequentially coupling said plurality of sections; at least one sensor configured to measure movement of one or more of said sections; and a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

What is claimed is: 
     
         1 . A control console for controlling at least one surgical mechanical arm, comprising:
 a base comprising a user seat;   one or more input devices coupled to said base for controlling movement of said at least one surgical mechanical arm;   a processor which generates signals for controlling actuation of said at least one surgical mechanical arm in response to manipulation of said one or more input devices by the user; and   a display coupled to said base, said display positioned across from the user when the user sits on said seat and places their hands in contact with said one or more input devices; said display presenting at least one of images and instructions related to a position of said at least one surgical mechanical arm;   wherein a footprint area of said control console is smaller than 2 m{circumflex over ( )}2.   
     
     
         2 . The control console according to  claim 1 , wherein said base is elongate, comprising a width between 5-30 cm, and a length between 0.5-2 m. 
     
     
         3 . The control console according to  claim 1 , wherein a weight of said console is less than 150 Kg. 
     
     
         4 . The control console according to  claim 1 , wherein said one or more input devices are attached to said base via one or more adjustable stands. 
     
     
         5 . The control console according to  claim 1 , comprising a set of wheels are mounted to said base, and wherein a height of said seat relative to said wheels is short enough to allow the user to move said control console with their feet while sitting. 
     
     
         6 . The control console according to  claim 1 , wherein a height of a top of said display above said seat is less than 70 cm, allowing a sitting user to see at least a portion of a patient that is being operated on. 
     
     
         7 . The control console according to  claim 1 , wherein said control console is narrow enough to fit between the legs of an adult patient when the legs are spread apart and held by stirrups in position for surgical operation, said at least one surgical mechanical arm positioned for insertion into the patient's vagina and/or anus. 
     
     
         8 . The control console according to  claim 1 , wherein a height of said console is less than 1.5 m. 
     
     
         9 . The control console according to  claim 1 , wherein a distance between a front edge of said control console and a center of said base is shorter than 1 m. 
     
     
         10 . The control console according to  claim 1 , wherein a distance between a side edge of said control console and a center of said base is shorter than 0.5 m. 
     
     
         11 . The control console according to  claim 1 , comprising a storage compartment located at a front end of said base and extending substantially perpendicularly to said base. 
     
     
         12 . The control console according to  claim 11 , wherein said display is mounted onto said storage compartment. 
     
     
         13 . The control console according to  claim 1 , comprising one more arm rests coupled to said base, said arm rests adjustable in one or both of a height and a lateral position relative to said base. 
     
     
         14 . The control console according to  claim 1 , comprising an electrosurgical generator for supplying electrosurgical power to said at least one surgical mechanical arm. 
     
     
         15 . The control console according to  claim 14 , comprising a foot pedal for controlling said supply of electrosurgical power by said electrosurgical generator. 
     
     
         16 . The control console according to  claim 1 , wherein said user interface is configured for selection of a surgical configuration which sets a position of said one or more input arms according to the selected surgical configuration. 
     
     
         17 . The control console according to  claim 1 , wherein said base comprises a linear rail along which said seat is slidable. 
     
     
         18 . A method for operating a patient using a control console according to  claim 1  and at least one surgical mechanical arm, comprising:
 aligning said control console with respect to a patient position; 
 orienting said at least one surgical mechanical arm with respect to the patient; 
 sitting in said seat while facing said display; and 
 manipulating said one or more input devices to actuate movement of said at least one surgical mechanical arm. 
 
     
     
         19 . The method according to  claim 18 , wherein said aligning comprises positioning said control console between the patient's legs when the patient's legs are spread apart, and said orienting comprises positioning said at least one surgical mechanical arm for insertion into the patient's vagina or anus. 
     
     
         20 . A method for operating a patient using a console for controlling at least one surgical mechanical arm, comprising:
 sitting on a seat of said control console, across from a display;   watching said display and manipulating one or more input devices of said control console to actuate movement of said at least one surgical mechanical arm, while seeing at least an entry location of said at least one surgical mechanical arm into the patient body.